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<h1>analogin.c</h1><a href="analogin_8c.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*********************************************************************************</span>
<a name="l00002"></a>00002 <span class="comment"></span>
<a name="l00003"></a>00003 <span class="comment"> Copyright 2006 MakingThings</span>
<a name="l00004"></a>00004 <span class="comment"></span>
<a name="l00005"></a>00005 <span class="comment"> Licensed under the Apache License, </span>
<a name="l00006"></a>00006 <span class="comment"> Version 2.0 (the "License"); you may not use this file except in compliance </span>
<a name="l00007"></a>00007 <span class="comment"> with the License. You may obtain a copy of the License at</span>
<a name="l00008"></a>00008 <span class="comment"></span>
<a name="l00009"></a>00009 <span class="comment"> http://www.apache.org/licenses/LICENSE-2.0 </span>
<a name="l00010"></a>00010 <span class="comment"> </span>
<a name="l00011"></a>00011 <span class="comment"> Unless required by applicable law or agreed to in writing, software distributed</span>
<a name="l00012"></a>00012 <span class="comment"> under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR</span>
<a name="l00013"></a>00013 <span class="comment"> CONDITIONS OF ANY KIND, either express or implied. See the License for</span>
<a name="l00014"></a>00014 <span class="comment"> the specific language governing permissions and limitations under the License.</span>
<a name="l00015"></a>00015 <span class="comment"></span>
<a name="l00016"></a>00016 <span class="comment">*********************************************************************************/</span>
<a name="l00017"></a>00017 
<a name="l00018"></a>00018 <span class="comment">// MakingThings - Make Controller Board - 2006</span>
<a name="l00019"></a>00019 <span class="comment"></span>
<a name="l00020"></a>00020 <span class="comment">/** \file analogin.c  </span>
<a name="l00021"></a>00021 <span class="comment">  Functions for reading the analog inputs on the MAKE Application Board.</span>
<a name="l00022"></a>00022 <span class="comment">*/</span>
<a name="l00023"></a>00023 
<a name="l00024"></a>00024 <span class="comment">/* Library includes. */</span>
<a name="l00025"></a>00025 <span class="preprocessor">#include &lt;string.h&gt;</span>
<a name="l00026"></a>00026 <span class="preprocessor">#include &lt;stdio.h&gt;</span>
<a name="l00027"></a>00027 
<a name="l00028"></a>00028 <span class="comment">/* Scheduler includes. */</span>
<a name="l00029"></a>00029 <span class="preprocessor">#include "FreeRTOS.h"</span>
<a name="l00030"></a>00030 <span class="preprocessor">#include "task.h"</span>
<a name="l00031"></a>00031 <span class="preprocessor">#include "semphr.h"</span>
<a name="l00032"></a>00032 
<a name="l00033"></a>00033 <span class="comment">/* Hardware specific headers. */</span>
<a name="l00034"></a>00034 <span class="preprocessor">#include "Board.h"</span>
<a name="l00035"></a>00035 <span class="preprocessor">#include "AT91SAM7X256.h"</span>
<a name="l00036"></a>00036 
<a name="l00037"></a>00037 <span class="preprocessor">#include "config.h"</span>
<a name="l00038"></a>00038 
<a name="l00039"></a>00039 <span class="preprocessor">#include "io.h"</span>
<a name="l00040"></a>00040 
<a name="l00041"></a>00041 <span class="preprocessor">#include "analogin.h"</span>
<a name="l00042"></a>00042 <span class="preprocessor">#include "analogin_internal.h"</span>
<a name="l00043"></a>00043 
<a name="l00044"></a>00044 <span class="preprocessor">#define ANALOGIN_0_IO IO_PB27</span>
<a name="l00045"></a>00045 <span class="preprocessor"></span><span class="preprocessor">#define ANALOGIN_1_IO IO_PB28</span>
<a name="l00046"></a>00046 <span class="preprocessor"></span><span class="preprocessor">#define ANALOGIN_2_IO IO_PB29</span>
<a name="l00047"></a>00047 <span class="preprocessor"></span><span class="preprocessor">#define ANALOGIN_3_IO IO_PB30</span>
<a name="l00048"></a>00048 <span class="preprocessor"></span>
<a name="l00049"></a>00049 <span class="preprocessor">#define AUTOSENDSAVE 0xDF</span>
<a name="l00050"></a>00050 <span class="preprocessor"></span>
<a name="l00051"></a>00051 <span class="keyword">static</span> <span class="keywordtype">int</span> AnalogIn_Start( <span class="keywordtype">int</span> index );
<a name="l00052"></a>00052 <span class="keyword">static</span> <span class="keywordtype">int</span> AnalogIn_Stop( <span class="keywordtype">int</span> index );
<a name="l00053"></a>00053 
<a name="l00054"></a>00054 <span class="keyword">static</span> <span class="keywordtype">int</span> AnalogIn_Init( <span class="keywordtype">void</span> );
<a name="l00055"></a>00055 <span class="keyword">static</span> <span class="keywordtype">int</span> AnalogIn_Deinit( <span class="keywordtype">void</span> );
<a name="l00056"></a>00056 
<a name="l00057"></a>00057 <span class="keyword">static</span> <span class="keywordtype">int</span> AnalogIn_GetIo( <span class="keywordtype">int</span> index );
<a name="l00058"></a>00058 
<a name="l00059"></a>00059 <span class="keyword">extern</span> void ( AnalogInIsr_Wrapper )( void );
<a name="l00060"></a>00060 
<a name="l00061"></a>00061 <span class="keyword">struct </span>AnalogIn_* AnalogIn;
<a name="l00062"></a>00062 <span class="comment"></span>
<a name="l00063"></a>00063 <span class="comment">/** \defgroup AnalogIn Analog Inputs</span>
<a name="l00064"></a>00064 <span class="comment">  The AnalogIn subsystem converts 0-3.3V signals to 10-bit digital values.</span>
<a name="l00065"></a>00065 <span class="comment">  The analog to digital converters read incoming signals from 0 - 3.3V.  They are rated as 5V tolerant, </span>
<a name="l00066"></a>00066 <span class="comment">  and indeed can momentarily withstand higher voltages, but will not return meaningful values for anything </span>
<a name="l00067"></a>00067 <span class="comment">  above 3.3V.\n</span>
<a name="l00068"></a>00068 <span class="comment">  </span>
<a name="l00069"></a>00069 <span class="comment">  Converting the 0 - 1023 reading of the AnalogIn channel into a voltage is performed as follows:</span>
<a name="l00070"></a>00070 <span class="comment">   \verbatim v = 3.3 * ( a / 1023.0 ) \endverbatim</span>
<a name="l00071"></a>00071 <span class="comment">    where a is the AnalogIn value</span>
<a name="l00072"></a>00072 <span class="comment"></span>
<a name="l00073"></a>00073 <span class="comment">  This is of course a floating point operation (slowish) using a division (slowish).  Fixed point </span>
<a name="l00074"></a>00074 <span class="comment">  versions may be more suitable for some applications.  Where reduced accuracy is acceptable, the following </span>
<a name="l00075"></a>00075 <span class="comment">  can be used to get the input as a percentage of 3.3V:</span>
<a name="l00076"></a>00076 <span class="comment">  \verbatim  p = ( 100 * a ) / 1023 \endverbatim</span>
<a name="l00077"></a>00077 <span class="comment"></span>
<a name="l00078"></a>00078 <span class="comment">  Initializing the controller's AnalogIn system is pretty involved (see AnalogIn_Init() in AnalogIn-&gt;c).  There are a lot of </span>
<a name="l00079"></a>00079 <span class="comment">  different options - different converter speeds, DMA access, etc.  We've chosen something pretty simple here.</span>
<a name="l00080"></a>00080 <span class="comment">  More ambitious users may wish to alter the implementation.</span>
<a name="l00081"></a>00081 <span class="comment"></span>
<a name="l00082"></a>00082 <span class="comment">  \todo Provide multi-channel conversion routines</span>
<a name="l00083"></a>00083 <span class="comment"></span>
<a name="l00084"></a>00084 <span class="comment">  \ingroup Controller</span>
<a name="l00085"></a>00085 <span class="comment">  @{</span>
<a name="l00086"></a>00086 <span class="comment">*/</span>
<a name="l00087"></a>00087 <span class="comment"></span>
<a name="l00088"></a>00088 <span class="comment">/**</span>
<a name="l00089"></a>00089 <span class="comment">  Sets whether the specified channel is active.</span>
<a name="l00090"></a>00090 <span class="comment">  This initializes the AnalogIn system and gets a lock on its IO lines.  It only needs to be called once.</span>
<a name="l00091"></a>00091 <span class="comment">  @param index An integer specifying the channel (0 - 7).</span>
<a name="l00092"></a>00092 <span class="comment">  @param state An integer specifying the active state - 1 (active) or 0 (inactive).</span>
<a name="l00093"></a>00093 <span class="comment">  @return Zero on success.</span>
<a name="l00094"></a>00094 <span class="comment">  </span>
<a name="l00095"></a>00095 <span class="comment">  </span>
<a name="l00096"></a>00096 <span class="comment">  \par Example</span>
<a name="l00097"></a>00097 <span class="comment">  \code</span>
<a name="l00098"></a>00098 <span class="comment">  if( AnalogIn_SetActive( 0, 1 )  == CONTROLLER_OK ) // set analogin 0 to active</span>
<a name="l00099"></a>00099 <span class="comment">    // then continue processing</span>
<a name="l00100"></a>00100 <span class="comment">  else</span>
<a name="l00101"></a>00101 <span class="comment">    // some error occurred</span>
<a name="l00102"></a>00102 <span class="comment">  \endcode</span>
<a name="l00103"></a>00103 <span class="comment">*/</span>
<a name="l00104"></a><a class="code" href="group___analog_in.html#ga3ae1add8529d6e1882b6c7d5b376b94">00104</a> <span class="keywordtype">int</span> <a class="code" href="group___analog_in.html#ga3ae1add8529d6e1882b6c7d5b376b94" title="Sets whether the specified channel is active.">AnalogIn_SetActive</a>( <span class="keywordtype">int</span> index, <span class="keywordtype">int</span> state )
<a name="l00105"></a>00105 {
<a name="l00106"></a>00106   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt;= ANALOGIN_CHANNELS )
<a name="l00107"></a>00107     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g097f40c958abccd892d08f31b53c4dde" title="The requested index is not valid.">CONTROLLER_ERROR_ILLEGAL_INDEX</a>;
<a name="l00108"></a>00108 
<a name="l00109"></a>00109   <span class="keywordflow">if</span> ( state )
<a name="l00110"></a>00110   {
<a name="l00111"></a>00111     <span class="keywordflow">if</span>( AnalogIn == NULL )
<a name="l00112"></a>00112     {
<a name="l00113"></a>00113       AnalogIn = <a class="code" href="group___utils.html#g95923aa748602fa0330903fca05ca892" title="Same as Malloc, but keeps trying until it succeeds.">MallocWait</a>( <span class="keyword">sizeof</span>( <span class="keyword">struct</span> AnalogIn_ ), 100 );
<a name="l00114"></a>00114       AnalogIn-&gt;users = 0;
<a name="l00115"></a>00115       <span class="keywordtype">int</span> i;
<a name="l00116"></a>00116       <span class="keywordflow">for</span>( i = 0; i &lt; ANALOGIN_CHANNELS; i++ )
<a name="l00117"></a>00117         AnalogIn-&gt;channelUsers[ i ] = 0;
<a name="l00118"></a>00118       AnalogIn_AutoSendInit( );
<a name="l00119"></a>00119     }
<a name="l00120"></a>00120 
<a name="l00121"></a>00121     <span class="keywordflow">return</span> AnalogIn_Start( index );
<a name="l00122"></a>00122   }
<a name="l00123"></a>00123   <span class="keywordflow">else</span>
<a name="l00124"></a>00124   {
<a name="l00125"></a>00125     <span class="comment">// TODO: check if any channels are still active and if not, Free( ) the AnalogIn struct</span>
<a name="l00126"></a>00126     <span class="keywordflow">return</span> AnalogIn_Stop( index );
<a name="l00127"></a>00127   }
<a name="l00128"></a>00128 }
<a name="l00129"></a>00129 <span class="comment"></span>
<a name="l00130"></a>00130 <span class="comment">/**</span>
<a name="l00131"></a>00131 <span class="comment">  Returns the active state of a channel.</span>
<a name="l00132"></a>00132 <span class="comment">  @param index An integer specifying the ANALOGIN channel (0 - 7).</span>
<a name="l00133"></a>00133 <span class="comment">  @return State - 1/non-zero (active) or 0 (inactive).</span>
<a name="l00134"></a>00134 <span class="comment">  </span>
<a name="l00135"></a>00135 <span class="comment">  \par Example</span>
<a name="l00136"></a>00136 <span class="comment">  \code</span>
<a name="l00137"></a>00137 <span class="comment">  int active = AnalogIn_GetActive( 0 ) // check whether analogin 0 is active</span>
<a name="l00138"></a>00138 <span class="comment">  \endcode</span>
<a name="l00139"></a>00139 <span class="comment">*/</span>
<a name="l00140"></a><a class="code" href="group___analog_in.html#gdb62eecf34834f2b57e722864581ace7">00140</a> <span class="keywordtype">int</span> <a class="code" href="group___analog_in.html#gdb62eecf34834f2b57e722864581ace7" title="Returns the active state of a channel.">AnalogIn_GetActive</a>( <span class="keywordtype">int</span> index )
<a name="l00141"></a>00141 {
<a name="l00142"></a>00142   <span class="keywordflow">if</span>( AnalogIn == NULL )
<a name="l00143"></a>00143     <span class="keywordflow">return</span> 0;
<a name="l00144"></a>00144 
<a name="l00145"></a>00145   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt;= ANALOGIN_CHANNELS )
<a name="l00146"></a>00146     <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00147"></a>00147   <span class="keywordflow">return</span> AnalogIn-&gt;channelUsers[ index ] &gt; 0;
<a name="l00148"></a>00148 }
<a name="l00149"></a>00149 <span class="comment"></span>
<a name="l00150"></a>00150 <span class="comment">/** </span>
<a name="l00151"></a>00151 <span class="comment">  Read the value of an analog input.</span>
<a name="l00152"></a>00152 <span class="comment">  @param index An integer specifying which input (0-7).</span>
<a name="l00153"></a>00153 <span class="comment">  @return The value as an integer (0 - 1023).</span>
<a name="l00154"></a>00154 <span class="comment">  </span>
<a name="l00155"></a>00155 <span class="comment">  \par Example</span>
<a name="l00156"></a>00156 <span class="comment">  \code</span>
<a name="l00157"></a>00157 <span class="comment">  int analogin1 = AnalogIn_GetValue( 1 );</span>
<a name="l00158"></a>00158 <span class="comment">  \endcode</span>
<a name="l00159"></a>00159 <span class="comment">*/</span>
<a name="l00160"></a><a class="code" href="group___analog_in.html#g66a6bd10fbb5fc80f32994b756cf0412">00160</a> <span class="keywordtype">int</span> <a class="code" href="group___analog_in.html#g66a6bd10fbb5fc80f32994b756cf0412" title="Read the value of an analog input.">AnalogIn_GetValue</a>( <span class="keywordtype">int</span> index )
<a name="l00161"></a>00161 {
<a name="l00162"></a>00162   <a class="code" href="group___analog_in.html#ga3ae1add8529d6e1882b6c7d5b376b94" title="Sets whether the specified channel is active.">AnalogIn_SetActive</a>( index, 1 );
<a name="l00163"></a>00163   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt;= ANALOGIN_CHANNELS )
<a name="l00164"></a>00164     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g097f40c958abccd892d08f31b53c4dde" title="The requested index is not valid.">CONTROLLER_ERROR_ILLEGAL_INDEX</a>;
<a name="l00165"></a>00165 
<a name="l00166"></a>00166   <span class="keywordflow">if</span> ( AnalogIn-&gt;channelUsers[ index ] &lt; 1 )
<a name="l00167"></a>00167   {
<a name="l00168"></a>00168     <span class="keywordtype">int</span> status = AnalogIn_Start( index );
<a name="l00169"></a>00169     <span class="keywordflow">if</span> ( status != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00170"></a>00170       <span class="keywordflow">return</span> status;
<a name="l00171"></a>00171   }
<a name="l00172"></a>00172 
<a name="l00173"></a>00173   <span class="keywordtype">int</span> value;
<a name="l00174"></a>00174 
<a name="l00175"></a>00175   <span class="keywordflow">if</span> ( !xSemaphoreTake( AnalogIn-&gt;semaphore, 1000 ) )
<a name="l00176"></a>00176     <span class="keywordflow">return</span> -1;
<a name="l00177"></a>00177 
<a name="l00178"></a>00178   <span class="comment">/* Third Step: Select the active channel */</span>
<a name="l00179"></a>00179   <span class="keywordtype">int</span> mask = 1 &lt;&lt; index; 
<a name="l00180"></a>00180   AT91C_BASE_ADC-&gt;ADC_CHDR = ~mask;
<a name="l00181"></a>00181   AT91C_BASE_ADC-&gt;ADC_CHER = mask;
<a name="l00182"></a>00182   
<a name="l00183"></a>00183   <span class="comment">/* Fourth Step: Start the conversion */</span>
<a name="l00184"></a>00184   AT91C_BASE_ADC-&gt;ADC_CR = AT91C_ADC_START;
<a name="l00185"></a>00185 
<a name="l00186"></a>00186   <span class="comment">/* Busy wait */</span>
<a name="l00187"></a>00187   <span class="comment">// while ( !( AT91C_BASE_ADC-&gt;ADC_CHSR  &amp; ( 1 &lt;&lt; index ) ) );</span>
<a name="l00188"></a>00188 
<a name="l00189"></a>00189   <span class="keywordflow">if</span> ( !xSemaphoreTake( AnalogIn-&gt;doneSemaphore, 1000 ) )
<a name="l00190"></a>00190     <span class="keywordflow">return</span> -1;
<a name="l00191"></a>00191 
<a name="l00192"></a>00192   value = AT91C_BASE_ADC-&gt;ADC_LCDR &amp; 0xFFFF;
<a name="l00193"></a>00193 
<a name="l00194"></a>00194   xSemaphoreGive( AnalogIn-&gt;semaphore );
<a name="l00195"></a>00195 
<a name="l00196"></a>00196   <span class="keywordflow">return</span> value;
<a name="l00197"></a>00197 }
<a name="l00198"></a>00198 <span class="comment"></span>
<a name="l00199"></a>00199 <span class="comment">/** </span>
<a name="l00200"></a>00200 <span class="comment">  Read the value of several of the analog inputs.</span>
<a name="l00201"></a>00201 <span class="comment">  Due to the current ISR handling, this isn't too much quicker than making</span>
<a name="l00202"></a>00202 <span class="comment">  calls to each of the channels individually.</span>
<a name="l00203"></a>00203 <span class="comment">  @param mask A bit mask specifying which channels to read.</span>
<a name="l00204"></a>00204 <span class="comment">  @param values A pointer to an int array to be filled with the values.</span>
<a name="l00205"></a>00205 <span class="comment">  @return 0 on success, otherwise non-zero.</span>
<a name="l00206"></a>00206 <span class="comment">  </span>
<a name="l00207"></a>00207 <span class="comment">  \par Example</span>
<a name="l00208"></a>00208 <span class="comment">  \code</span>
<a name="l00209"></a>00209 <span class="comment">  int mask = 0xFF;</span>
<a name="l00210"></a>00210 <span class="comment">  int samples[8];</span>
<a name="l00211"></a>00211 <span class="comment">  AnalogIn_GetValueMulti( mask, samples ); // now samples is filled with all the analogin values</span>
<a name="l00212"></a>00212 <span class="comment">  \endcode</span>
<a name="l00213"></a>00213 <span class="comment">*/</span>
<a name="l00214"></a><a class="code" href="group___analog_in.html#geee076abd9c478c3817552fdd586852d">00214</a> <span class="keywordtype">int</span> <a class="code" href="group___analog_in.html#geee076abd9c478c3817552fdd586852d" title="Read the value of several of the analog inputs.">AnalogIn_GetValueMulti</a>( <span class="keywordtype">int</span> mask, <span class="keywordtype">int</span> values[] )
<a name="l00215"></a>00215 {
<a name="l00216"></a>00216   <span class="comment">//AnalogIn_SetActive( 1 );</span>
<a name="l00217"></a>00217   <span class="keywordflow">if</span> ( mask &lt; 0 || mask &gt; 255 ) <span class="comment">// check the value is a valid 8-bit mask</span>
<a name="l00218"></a>00218     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g097f40c958abccd892d08f31b53c4dde" title="The requested index is not valid.">CONTROLLER_ERROR_ILLEGAL_INDEX</a>;
<a name="l00219"></a>00219 
<a name="l00220"></a>00220   <span class="keywordtype">int</span> i; <span class="comment">// Is this the best way to make sure everything is started up properly?</span>
<a name="l00221"></a>00221   <span class="keywordflow">for</span>( i = 0; i &lt; 8; i++ )
<a name="l00222"></a>00222   {
<a name="l00223"></a>00223     <span class="keywordflow">if</span>( mask &gt;&gt; i &amp; 1 )
<a name="l00224"></a>00224     {
<a name="l00225"></a>00225       <span class="keywordflow">if</span> ( AnalogIn-&gt;channelUsers[ i ] &lt; 1 )
<a name="l00226"></a>00226       {
<a name="l00227"></a>00227         <span class="keywordtype">int</span> status = AnalogIn_Start( i );
<a name="l00228"></a>00228         <span class="keywordflow">if</span> ( status != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00229"></a>00229         <span class="keywordflow">return</span> status;
<a name="l00230"></a>00230       }
<a name="l00231"></a>00231     }
<a name="l00232"></a>00232   }
<a name="l00233"></a>00233 
<a name="l00234"></a>00234   <span class="keywordflow">if</span> ( !xSemaphoreTake( AnalogIn-&gt;semaphore, 1000 ) )
<a name="l00235"></a>00235     <span class="keywordflow">return</span> -1;
<a name="l00236"></a>00236 
<a name="l00237"></a>00237   <span class="comment">/* Third Step: Select the active channels */</span>
<a name="l00238"></a>00238   AT91C_BASE_ADC-&gt;ADC_CHDR = ~mask;
<a name="l00239"></a>00239   AT91C_BASE_ADC-&gt;ADC_CHER = mask;
<a name="l00240"></a>00240   
<a name="l00241"></a>00241   <span class="comment">/* Fourth Step: Start the conversion */</span>
<a name="l00242"></a>00242   AT91C_BASE_ADC-&gt;ADC_CR = AT91C_ADC_START;
<a name="l00243"></a>00243 
<a name="l00244"></a>00244   <span class="keywordflow">if</span> ( !xSemaphoreTake( AnalogIn-&gt;doneSemaphore, 1000 ) )
<a name="l00245"></a>00245     <span class="keywordflow">return</span> -1;
<a name="l00246"></a>00246 
<a name="l00247"></a>00247   <span class="comment">//Figure out which of the channels we want to read</span>
<a name="l00248"></a>00248   <span class="keywordtype">int</span>* reg = &amp;AT91C_BASE_ADC-&gt;ADC_CDR0; <span class="comment">// the address of the first ADC result register</span>
<a name="l00249"></a>00249   <span class="keywordflow">for</span>( i = 0; i &lt; 8; i++ )
<a name="l00250"></a>00250   {
<a name="l00251"></a>00251     <span class="keywordflow">if</span>( mask &gt;&gt; i &amp; 1 )
<a name="l00252"></a>00252       values[ i ] = *reg++ &amp; 0xFFFF;
<a name="l00253"></a>00253   }
<a name="l00254"></a>00254 
<a name="l00255"></a>00255   xSemaphoreGive( AnalogIn-&gt;semaphore );
<a name="l00256"></a>00256 
<a name="l00257"></a>00257   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00258"></a>00258 }
<a name="l00259"></a>00259 <span class="comment"></span>
<a name="l00260"></a>00260 <span class="comment">/** </span>
<a name="l00261"></a>00261 <span class="comment">  Read the value of an analog input without the use of any OS services.</span>
<a name="l00262"></a>00262 <span class="comment">  Note that this is not thread safe and shouldn't be used if another </span>
<a name="l00263"></a>00263 <span class="comment">  part of the code might be using it or the thread safe versions.</span>
<a name="l00264"></a>00264 <span class="comment">  @param index An integer specifying which input (0-7).</span>
<a name="l00265"></a>00265 <span class="comment">  @return The value as an integer (0 - 1023).</span>
<a name="l00266"></a>00266 <span class="comment">  </span>
<a name="l00267"></a>00267 <span class="comment">  \par Example</span>
<a name="l00268"></a>00268 <span class="comment">  \code</span>
<a name="l00269"></a>00269 <span class="comment">  int analogin1 = AnalogIn_GetValueWait( 1 );</span>
<a name="l00270"></a>00270 <span class="comment">  \endcode</span>
<a name="l00271"></a>00271 <span class="comment">*/</span>
<a name="l00272"></a><a class="code" href="group___analog_in.html#g41030fda39d69b15cd29ac95d73fd932">00272</a> <span class="keywordtype">int</span> <a class="code" href="group___analog_in.html#g41030fda39d69b15cd29ac95d73fd932" title="Read the value of an analog input without the use of any OS services.">AnalogIn_GetValueWait</a>( <span class="keywordtype">int</span> index )
<a name="l00273"></a>00273 {
<a name="l00274"></a>00274   <a class="code" href="group___analog_in.html#ga3ae1add8529d6e1882b6c7d5b376b94" title="Sets whether the specified channel is active.">AnalogIn_SetActive</a>( index, 1 );
<a name="l00275"></a>00275   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt;= ANALOGIN_CHANNELS )
<a name="l00276"></a>00276     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g097f40c958abccd892d08f31b53c4dde" title="The requested index is not valid.">CONTROLLER_ERROR_ILLEGAL_INDEX</a>;
<a name="l00277"></a>00277 
<a name="l00278"></a>00278   <span class="keywordflow">if</span> ( AnalogIn-&gt;channelUsers[ index ] &lt; 1 )
<a name="l00279"></a>00279   {
<a name="l00280"></a>00280     <span class="keywordtype">int</span> status = AnalogIn_Start( index );
<a name="l00281"></a>00281     <span class="keywordflow">if</span> ( status != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00282"></a>00282       <span class="keywordflow">return</span> status;
<a name="l00283"></a>00283   }
<a name="l00284"></a>00284 
<a name="l00285"></a>00285   <span class="keywordtype">int</span> value = 0;
<a name="l00286"></a>00286 
<a name="l00287"></a>00287   <span class="comment">// Third Step: Select the active channel</span>
<a name="l00288"></a>00288   <span class="keywordtype">int</span> mask = 1 &lt;&lt; index; 
<a name="l00289"></a>00289   AT91C_BASE_ADC-&gt;ADC_CHDR = ~mask;
<a name="l00290"></a>00290   AT91C_BASE_ADC-&gt;ADC_CHER = mask;
<a name="l00291"></a>00291   
<a name="l00292"></a>00292   AT91C_BASE_ADC-&gt;ADC_IDR = AT91C_ADC_DRDY; 
<a name="l00293"></a>00293 
<a name="l00294"></a>00294   <span class="comment">// Fourth Step: Start the conversion</span>
<a name="l00295"></a>00295   AT91C_BASE_ADC-&gt;ADC_CR = AT91C_ADC_START;
<a name="l00296"></a>00296 
<a name="l00297"></a>00297   value++;
<a name="l00298"></a>00298   value++;
<a name="l00299"></a>00299 
<a name="l00300"></a>00300   <span class="comment">// Busy wait</span>
<a name="l00301"></a>00301   <span class="keywordflow">while</span> ( !( AT91C_BASE_ADC-&gt;ADC_SR &amp; AT91C_ADC_DRDY ) )
<a name="l00302"></a>00302     value++;
<a name="l00303"></a>00303 
<a name="l00304"></a>00304   AT91C_BASE_ADC-&gt;ADC_IDR = AT91C_ADC_DRDY; 
<a name="l00305"></a>00305 
<a name="l00306"></a>00306   value = AT91C_BASE_ADC-&gt;ADC_LCDR &amp; 0xFFFF;
<a name="l00307"></a>00307 
<a name="l00308"></a>00308   <span class="keywordflow">return</span> value;
<a name="l00309"></a>00309 }
<a name="l00310"></a>00310 <span class="comment"></span>
<a name="l00311"></a>00311 <span class="comment">/** @}</span>
<a name="l00312"></a>00312 <span class="comment">*/</span>
<a name="l00313"></a>00313 
<a name="l00314"></a>00314 <span class="keywordtype">void</span> AnalogIn_AutoSendInit( )
<a name="l00315"></a>00315 {
<a name="l00316"></a>00316   <span class="keywordtype">int</span> autosend;
<a name="l00317"></a>00317   <a class="code" href="group___eeprom.html#g95bd921a774026d4cc96b20d6a20d9dd" title="Read data from the EEPROM.">Eeprom_Read</a>( EEPROM_ANALOGIN_AUTOSEND, (uchar*)&amp;autosend, 4 );
<a name="l00318"></a>00318   <span class="keywordflow">if</span>( !((autosend &gt;&gt; 16) &amp; 0xFF) == AUTOSENDSAVE )
<a name="l00319"></a>00319     AnalogIn-&gt;autosend = AUTOSENDSAVE &lt;&lt; 16;
<a name="l00320"></a>00320   <span class="keywordflow">else</span>
<a name="l00321"></a>00321     AnalogIn-&gt;autosend = autosend;
<a name="l00322"></a>00322 }
<a name="l00323"></a>00323 
<a name="l00324"></a>00324 <span class="keywordtype">int</span> AnalogIn_Start( <span class="keywordtype">int</span> index )
<a name="l00325"></a>00325 {
<a name="l00326"></a>00326   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt;= ANALOGIN_CHANNELS )
<a name="l00327"></a>00327     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g097f40c958abccd892d08f31b53c4dde" title="The requested index is not valid.">CONTROLLER_ERROR_ILLEGAL_INDEX</a>;
<a name="l00328"></a>00328   <span class="keywordflow">if</span> ( AnalogIn-&gt;channelUsers[ index ]++ == 0 )
<a name="l00329"></a>00329   {
<a name="l00330"></a>00330     <span class="keywordtype">int</span> status;
<a name="l00331"></a>00331 
<a name="l00332"></a>00332     <span class="comment">// The lower four channel pins are shared with other subsystems, so no locking</span>
<a name="l00333"></a>00333     <span class="keywordflow">if</span> ( index &lt; 4 )
<a name="l00334"></a>00334     {
<a name="l00335"></a>00335       <span class="keywordtype">int</span> io = AnalogIn_GetIo( index );
<a name="l00336"></a>00336       status = Io_Start( io, <span class="keyword">false</span> );
<a name="l00337"></a>00337       <span class="keywordflow">if</span> ( status != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00338"></a>00338       {
<a name="l00339"></a>00339         AnalogIn-&gt;channelUsers[ index ]--;
<a name="l00340"></a>00340         <span class="keywordflow">return</span> status;
<a name="l00341"></a>00341       }
<a name="l00342"></a>00342 
<a name="l00343"></a>00343       Io_PullupDisable( io );
<a name="l00344"></a>00344     }
<a name="l00345"></a>00345 
<a name="l00346"></a>00346     <span class="keywordflow">if</span> ( AnalogIn-&gt;users++ == 0 )
<a name="l00347"></a>00347     {
<a name="l00348"></a>00348       AnalogIn_Init();  
<a name="l00349"></a>00349     }
<a name="l00350"></a>00350   }
<a name="l00351"></a>00351   
<a name="l00352"></a>00352   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00353"></a>00353 }
<a name="l00354"></a>00354 
<a name="l00355"></a>00355 <span class="keywordtype">int</span> AnalogIn_Stop( <span class="keywordtype">int</span> index )
<a name="l00356"></a>00356 {
<a name="l00357"></a>00357   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt;= ANALOGIN_CHANNELS )
<a name="l00358"></a>00358     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g097f40c958abccd892d08f31b53c4dde" title="The requested index is not valid.">CONTROLLER_ERROR_ILLEGAL_INDEX</a>;
<a name="l00359"></a>00359   <span class="keywordflow">if</span> ( AnalogIn-&gt;channelUsers[ index ] &lt;= 0 )
<a name="l00360"></a>00360     <span class="keywordflow">return</span> <a class="code" href="group___error.html#gbe5b0c7c2a59668cdeb433375f091c2a" title="This resource has already been stopped too many times.">CONTROLLER_ERROR_TOO_MANY_STOPS</a>;
<a name="l00361"></a>00361   <span class="keywordflow">if</span> ( --AnalogIn-&gt;channelUsers[ index ] == 0 )
<a name="l00362"></a>00362   {
<a name="l00363"></a>00363     <span class="keywordflow">if</span> ( index &lt; 4 )
<a name="l00364"></a>00364     {
<a name="l00365"></a>00365       <span class="keywordtype">int</span> io = AnalogIn_GetIo( index );
<a name="l00366"></a>00366       Io_Stop( io );
<a name="l00367"></a>00367     }
<a name="l00368"></a>00368     <span class="keywordflow">if</span> ( --AnalogIn-&gt;users == 0 )
<a name="l00369"></a>00369     {
<a name="l00370"></a>00370       AnalogIn_Deinit();
<a name="l00371"></a>00371     }
<a name="l00372"></a>00372   }
<a name="l00373"></a>00373   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00374"></a>00374 }
<a name="l00375"></a>00375 
<a name="l00376"></a>00376 <span class="keywordtype">int</span> AnalogIn_Init()
<a name="l00377"></a>00377 {
<a name="l00378"></a>00378   <span class="comment">// Enable the peripheral clock</span>
<a name="l00379"></a>00379   AT91C_BASE_PMC-&gt;PMC_PCER = 1 &lt;&lt; AT91C_ID_ADC;
<a name="l00380"></a>00380 
<a name="l00381"></a>00381   <span class="comment">// Set up</span>
<a name="l00382"></a>00382   AT91C_BASE_ADC-&gt;ADC_MR =
<a name="l00383"></a>00383        AT91C_ADC_TRGEN_DIS | <span class="comment">// Hardware Trigger Disabled</span>
<a name="l00384"></a>00384     <span class="comment">// AT91C_ADC_TRGEN_EN  | // Hardware Trigger Disabled</span>
<a name="l00385"></a>00385     <span class="comment">//   AT91C_ADC_TRGSEL_ | // Hardware Trigger Disabled</span>
<a name="l00386"></a>00386     <span class="comment">// AT91C_ADC_TRGSEL_TIOA0  | // Trigger Selection Don't Care</span>
<a name="l00387"></a>00387        AT91C_ADC_LOWRES_10_BIT | <span class="comment">// 10 bit conversion</span>
<a name="l00388"></a>00388     <span class="comment">// AT91C_ADC_LOWRES_8_BIT | // 8 bit conversion</span>
<a name="l00389"></a>00389        AT91C_ADC_SLEEP_NORMAL_MODE | <span class="comment">// SLEEP</span>
<a name="l00390"></a>00390     <span class="comment">// AT91C_ADC_SLEEP_MODE | // SLEEP</span>
<a name="l00391"></a>00391        ( ( 9 &lt;&lt; 8 ) &amp; AT91C_ADC_PRESCAL ) | <span class="comment">// Prescale rate (8 bits)</span>
<a name="l00392"></a>00392        ( ( 127 &lt;&lt; 16 ) &amp; AT91C_ADC_STARTUP ) | <span class="comment">// Startup rate</span>
<a name="l00393"></a>00393        ( ( 127 &lt;&lt; 24 ) &amp; AT91C_ADC_SHTIM ); <span class="comment">// Sample and Hold Time</span>
<a name="l00394"></a>00394 
<a name="l00395"></a>00395   <span class="comment">//TODO: Will need to fine-tune these timings.</span>
<a name="l00396"></a>00396 
<a name="l00397"></a>00397   <span class="comment">// Do the OS stuff</span>
<a name="l00398"></a>00398 
<a name="l00399"></a>00399   vSemaphoreCreateBinary( AnalogIn-&gt;semaphore );
<a name="l00400"></a>00400 
<a name="l00401"></a>00401   <span class="comment">// Create the sempahore that will be used to wake the calling process up </span>
<a name="l00402"></a>00402   vSemaphoreCreateBinary( AnalogIn-&gt;doneSemaphore );
<a name="l00403"></a>00403   xSemaphoreTake( AnalogIn-&gt;doneSemaphore, 0 );
<a name="l00404"></a>00404 
<a name="l00405"></a>00405   <span class="comment">// Initialize the interrupts</span>
<a name="l00406"></a>00406   <span class="comment">// WAS AT91F_AIC_ConfigureIt( AT91C_ID_ADC, 3, AT91C_AIC_SRCTYPE_INT_HIGH_LEVEL, ( void (*)( void ) ) AnalogInIsr_Wrapper );</span>
<a name="l00407"></a>00407   <span class="comment">// Which is defined at the bottom of the AT91SAM7X256.h file</span>
<a name="l00408"></a>00408   <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> mask ;                         
<a name="l00409"></a>00409                                       
<a name="l00410"></a>00410   mask = 0x1 &lt;&lt; AT91C_ID_ADC;   
<a name="l00411"></a>00411                         
<a name="l00412"></a>00412   <span class="comment">/* Disable the interrupt on the interrupt controller */</span>         
<a name="l00413"></a>00413   AT91C_BASE_AIC-&gt;AIC_IDCR = mask ;                   
<a name="l00414"></a>00414   <span class="comment">/* Save the interrupt handler routine pointer and the interrupt priority */</span> 
<a name="l00415"></a>00415   AT91C_BASE_AIC-&gt;AIC_SVR[ AT91C_ID_ADC ] = (<span class="keywordtype">unsigned</span> int)AnalogInIsr_Wrapper;      
<a name="l00416"></a>00416   <span class="comment">/* Store the Source Mode Register */</span>                  
<a name="l00417"></a>00417   AT91C_BASE_AIC-&gt;AIC_SMR[ AT91C_ID_ADC ] = AT91C_AIC_SRCTYPE_INT_HIGH_LEVEL | 4  ;       
<a name="l00418"></a>00418   <span class="comment">/* Clear the interrupt on the interrupt controller */</span>         
<a name="l00419"></a>00419   AT91C_BASE_AIC-&gt;AIC_ICCR = mask ;         
<a name="l00420"></a>00420 
<a name="l00421"></a>00421   AT91C_BASE_ADC-&gt;ADC_IER = AT91C_ADC_DRDY; 
<a name="l00422"></a>00422 
<a name="l00423"></a>00423   AT91C_BASE_AIC-&gt;AIC_IECR = mask;
<a name="l00424"></a>00424 
<a name="l00425"></a>00425   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00426"></a>00426 }
<a name="l00427"></a>00427 
<a name="l00428"></a>00428 <span class="keywordtype">int</span> AnalogIn_Deinit()
<a name="l00429"></a>00429 {
<a name="l00430"></a>00430   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00431"></a>00431 }
<a name="l00432"></a>00432 
<a name="l00433"></a>00433 <span class="keywordtype">int</span> AnalogIn_GetIo( <span class="keywordtype">int</span> index )
<a name="l00434"></a>00434 {
<a name="l00435"></a>00435   <span class="keywordtype">int</span> io = -1;
<a name="l00436"></a>00436   <span class="keywordflow">switch</span> ( index )
<a name="l00437"></a>00437   {
<a name="l00438"></a>00438     <span class="keywordflow">case</span> 0:
<a name="l00439"></a>00439       io = ANALOGIN_0_IO;
<a name="l00440"></a>00440       <span class="keywordflow">break</span>;
<a name="l00441"></a>00441     <span class="keywordflow">case</span> 1:
<a name="l00442"></a>00442       io = ANALOGIN_1_IO;
<a name="l00443"></a>00443       <span class="keywordflow">break</span>;
<a name="l00444"></a>00444     <span class="keywordflow">case</span> 2:
<a name="l00445"></a>00445       io = ANALOGIN_2_IO;
<a name="l00446"></a>00446       <span class="keywordflow">break</span>;
<a name="l00447"></a>00447     <span class="keywordflow">case</span> 3:
<a name="l00448"></a>00448       io = ANALOGIN_3_IO;
<a name="l00449"></a>00449       <span class="keywordflow">break</span>;
<a name="l00450"></a>00450   }
<a name="l00451"></a>00451   <span class="keywordflow">return</span> io;
<a name="l00452"></a>00452 }
<a name="l00453"></a>00453 
<a name="l00454"></a>00454 <span class="preprocessor">#ifdef OSC</span>
<a name="l00455"></a>00455 <span class="preprocessor"></span><span class="comment"></span>
<a name="l00456"></a>00456 <span class="comment">/** </span>
<a name="l00457"></a>00457 <span class="comment">  Read whether a particular channel is enabled to check for and send new values automatically.</span>
<a name="l00458"></a>00458 <span class="comment">  @param index An integer specifying which input (0-7).</span>
<a name="l00459"></a>00459 <span class="comment">  @return True if enabled, false if disabled.</span>
<a name="l00460"></a>00460 <span class="comment">*/</span>
<a name="l00461"></a><a class="code" href="analogin_8c.html#74ba78c1fbe94d99adbcedae8978b6d2">00461</a> <span class="keywordtype">bool</span> <a class="code" href="analogin_8c.html#74ba78c1fbe94d99adbcedae8978b6d2" title="Read whether a particular channel is enabled to check for and send new values automatically...">AnalogIn_GetAutoSend</a>( <span class="keywordtype">int</span> index )
<a name="l00462"></a>00462 {
<a name="l00463"></a>00463   <a class="code" href="group___analog_in.html#ga3ae1add8529d6e1882b6c7d5b376b94" title="Sets whether the specified channel is active.">AnalogIn_SetActive</a>( index, 1 );
<a name="l00464"></a>00464   <span class="keywordflow">return</span> (AnalogIn-&gt;autosend &gt;&gt; index) &amp; 0x01;
<a name="l00465"></a>00465 }
<a name="l00466"></a>00466 <span class="comment"></span>
<a name="l00467"></a>00467 <span class="comment">/** </span>
<a name="l00468"></a>00468 <span class="comment">  Set whether a particular channel is enabled to check for and send new values automatically.</span>
<a name="l00469"></a>00469 <span class="comment">  @param index An integer specifying which input (0-7).</span>
<a name="l00470"></a>00470 <span class="comment">  @param onoff A boolean specifying whether to turn atuosending on or off.</span>
<a name="l00471"></a>00471 <span class="comment">*/</span>
<a name="l00472"></a><a class="code" href="analogin_8c.html#d6445fb5094b226f418aab919bc5e602">00472</a> <span class="keywordtype">void</span> <a class="code" href="analogin_8c.html#d6445fb5094b226f418aab919bc5e602" title="Set whether a particular channel is enabled to check for and send new values automatically...">AnalogIn_SetAutoSend</a>( <span class="keywordtype">int</span> index, <span class="keywordtype">bool</span> onoff )
<a name="l00473"></a>00473 {
<a name="l00474"></a>00474   <a class="code" href="group___analog_in.html#ga3ae1add8529d6e1882b6c7d5b376b94" title="Sets whether the specified channel is active.">AnalogIn_SetActive</a>( index, 1 );
<a name="l00475"></a>00475   <span class="keywordflow">if</span>( ((AnalogIn-&gt;autosend &gt;&gt; index) &amp; 0x01) != onoff )
<a name="l00476"></a>00476   {
<a name="l00477"></a>00477     <span class="keywordtype">int</span> mask = (1 &lt;&lt; index);
<a name="l00478"></a>00478     <span class="keywordflow">if</span>( onoff )
<a name="l00479"></a>00479       AnalogIn-&gt;autosend |= mask;
<a name="l00480"></a>00480     <span class="keywordflow">else</span>
<a name="l00481"></a>00481       AnalogIn-&gt;autosend &amp;= ~mask;
<a name="l00482"></a>00482     
<a name="l00483"></a>00483     <a class="code" href="group___eeprom.html#g03d8b089bb0d04209e032ea233218d3a" title="Write data to the EEPROM.">Eeprom_Write</a>( EEPROM_ANALOGIN_AUTOSEND, (uchar*)&amp;AnalogIn-&gt;autosend, 4 );
<a name="l00484"></a>00484   }
<a name="l00485"></a>00485 }
<a name="l00486"></a>00486 <span class="comment"></span>
<a name="l00487"></a>00487 <span class="comment">/** \defgroup AnalogInOSC Analog In - OSC</span>
<a name="l00488"></a>00488 <span class="comment">  Read the Application Board's Analog Inputs via OSC.</span>
<a name="l00489"></a>00489 <span class="comment">  \ingroup OSC</span>
<a name="l00490"></a>00490 <span class="comment">  </span>
<a name="l00491"></a>00491 <span class="comment">  \section devices Devices</span>
<a name="l00492"></a>00492 <span class="comment">  There are 8 Analog Inputs on the Make Application Board, numbered 0 - 7.</span>
<a name="l00493"></a>00493 <span class="comment">  </span>
<a name="l00494"></a>00494 <span class="comment">  \section properties Properties</span>
<a name="l00495"></a>00495 <span class="comment">  The Analog Ins have three properties:</span>
<a name="l00496"></a>00496 <span class="comment">  - value</span>
<a name="l00497"></a>00497 <span class="comment">  - active</span>
<a name="l00498"></a>00498 <span class="comment">  - autosend</span>
<a name="l00499"></a>00499 <span class="comment"></span>
<a name="l00500"></a>00500 <span class="comment">  \par Value</span>
<a name="l00501"></a>00501 <span class="comment">  The \b value property corresponds to the incoming signal of an Analog In.</span>
<a name="l00502"></a>00502 <span class="comment">  The range of values you can expect to get back are from 0 - 1023.</span>
<a name="l00503"></a>00503 <span class="comment">  Because you can only ever \em read the value of an input, you'll never</span>
<a name="l00504"></a>00504 <span class="comment">  want to include an argument at the end of your OSC message to read the value.\n</span>
<a name="l00505"></a>00505 <span class="comment">  To read the sixth Analog In, send the message</span>
<a name="l00506"></a>00506 <span class="comment">  \verbatim /analogin/5/value \endverbatim</span>
<a name="l00507"></a>00507 <span class="comment">  The board will then respond by sending back an OSC message with the Analog In value.</span>
<a name="l00508"></a>00508 <span class="comment">  </span>
<a name="l00509"></a>00509 <span class="comment">  \par Autosend</span>
<a name="l00510"></a>00510 <span class="comment">  The \b autosend property corresponds to whether an analogin will automatically send a message</span>
<a name="l00511"></a>00511 <span class="comment">  when its incoming value changes.</span>
<a name="l00512"></a>00512 <span class="comment">  To tell the Controller to automatically send messages from analogin 4, send the message</span>
<a name="l00513"></a>00513 <span class="comment">  \verbatim /analogin/5/autosend 1 \endverbatim</span>
<a name="l00514"></a>00514 <span class="comment">  To have the Controller stop sending messages from analogin 4, send the message</span>
<a name="l00515"></a>00515 <span class="comment">  \verbatim /analogin/5/autosend 0 \endverbatim</span>
<a name="l00516"></a>00516 <span class="comment">  All autosend messages send at the same interval.  You can set this interval, in </span>
<a name="l00517"></a>00517 <span class="comment">  milliseconds, by sending the message</span>
<a name="l00518"></a>00518 <span class="comment">  \verbatim /system/autosend-interval 10 \endverbatim</span>
<a name="l00519"></a>00519 <span class="comment">  so that messages will be sent every 10 milliseconds.  This can be anywhere from 1 to 5000 milliseconds.</span>
<a name="l00520"></a>00520 <span class="comment">  \par</span>
<a name="l00521"></a>00521 <span class="comment">  You also need to select whether the board should send to you over USB or Ethernet.  Send</span>
<a name="l00522"></a>00522 <span class="comment">  \verbatim /system/autosend-usb 1 \endverbatim</span>
<a name="l00523"></a>00523 <span class="comment">  to send via USB, and </span>
<a name="l00524"></a>00524 <span class="comment">  \verbatim /system/autosend-udp 1 \endverbatim</span>
<a name="l00525"></a>00525 <span class="comment">  to send via Ethernet.  Via Ethernet, the board will send messages to the last address it received a message from.</span>
<a name="l00526"></a>00526 <span class="comment">  </span>
<a name="l00527"></a>00527 <span class="comment">  \par Active</span>
<a name="l00528"></a>00528 <span class="comment">  The \b active property corresponds to the active state of an Analog In.</span>
<a name="l00529"></a>00529 <span class="comment">  If an Analog In is set to be active, no other tasks will be able to</span>
<a name="l00530"></a>00530 <span class="comment">  read from it as an Analog In.  If you're not seeing appropriate</span>
<a name="l00531"></a>00531 <span class="comment">  responses to your messages to the Analog In, check the whether it's </span>
<a name="l00532"></a>00532 <span class="comment">  locked by sending a message like</span>
<a name="l00533"></a>00533 <span class="comment">  \verbatim /analogin/0/active \endverbatim</span>
<a name="l00534"></a>00534 <span class="comment">  \par</span>
<a name="l00535"></a>00535 <span class="comment">  You can set the active flag by sending</span>
<a name="l00536"></a>00536 <span class="comment">  \verbatim /analogin/0/active 1 \endverbatim</span>
<a name="l00537"></a>00537 <span class="comment">*/</span>
<a name="l00538"></a>00538 
<a name="l00539"></a>00539 <span class="preprocessor">#include "osc.h"</span>
<a name="l00540"></a>00540 <span class="preprocessor">#include "string.h"</span>
<a name="l00541"></a>00541 <span class="preprocessor">#include "stdio.h"</span>
<a name="l00542"></a>00542 
<a name="l00543"></a>00543 <span class="comment">// Need a list of property names</span>
<a name="l00544"></a>00544 <span class="comment">// MUST end in zero</span>
<a name="l00545"></a>00545 <span class="keyword">static</span> <span class="keywordtype">char</span>* AnalogInOsc_Name = <span class="stringliteral">"analogin"</span>;
<a name="l00546"></a>00546 <span class="keyword">static</span> <span class="keywordtype">char</span>* AnalogInOsc_PropertyNames[] = { <span class="stringliteral">"active"</span>, <span class="stringliteral">"value"</span>, <span class="stringliteral">"autosend"</span>, 0 }; <span class="comment">// must have a trailing 0</span>
<a name="l00547"></a>00547 
<a name="l00548"></a>00548 <span class="keywordtype">int</span> AnalogInOsc_PropertySet( <span class="keywordtype">int</span> index, <span class="keywordtype">int</span> property, <span class="keywordtype">int</span> value );
<a name="l00549"></a>00549 <span class="keywordtype">int</span> AnalogInOsc_PropertyGet( <span class="keywordtype">int</span> index, <span class="keywordtype">int</span> property );
<a name="l00550"></a>00550 
<a name="l00551"></a>00551 <span class="comment">// Returns the name of the subsystem</span>
<a name="l00552"></a>00552 <span class="keyword">const</span> <span class="keywordtype">char</span>* AnalogInOsc_GetName( )
<a name="l00553"></a>00553 {
<a name="l00554"></a>00554   <span class="keywordflow">return</span> AnalogInOsc_Name;
<a name="l00555"></a>00555 }
<a name="l00556"></a>00556 
<a name="l00557"></a>00557 <span class="comment">// Now getting a message.  This is actually a part message, with the first</span>
<a name="l00558"></a>00558 <span class="comment">// part (the subsystem) already parsed off.</span>
<a name="l00559"></a>00559 <span class="keywordtype">int</span> AnalogInOsc_ReceiveMessage( <span class="keywordtype">int</span> channel, <span class="keywordtype">char</span>* message, <span class="keywordtype">int</span> length )
<a name="l00560"></a>00560 {
<a name="l00561"></a>00561   <span class="keywordtype">int</span> status = <a class="code" href="group___o_s_c_a_p_i.html#gdaa5a3868eeedcf785c3d52f6b36ef34" title="Receive integers for a subsystem with multiple indexes.">Osc_IndexIntReceiverHelper</a>( channel, message, length, 
<a name="l00562"></a>00562                                      ANALOGIN_CHANNELS, AnalogInOsc_Name,
<a name="l00563"></a>00563                                      AnalogInOsc_PropertySet, AnalogInOsc_PropertyGet, 
<a name="l00564"></a>00564                                      AnalogInOsc_PropertyNames );
<a name="l00565"></a>00565   <span class="keywordflow">if</span> ( status != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00566"></a>00566     <span class="keywordflow">return</span> Osc_SendError( channel, AnalogInOsc_Name, status );
<a name="l00567"></a>00567   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00568"></a>00568 
<a name="l00569"></a>00569 }
<a name="l00570"></a>00570 
<a name="l00571"></a>00571 <span class="comment">// Set the index LED, property with the value</span>
<a name="l00572"></a>00572 <span class="keywordtype">int</span> AnalogInOsc_PropertySet( <span class="keywordtype">int</span> index, <span class="keywordtype">int</span> property, <span class="keywordtype">int</span> value )
<a name="l00573"></a>00573 {
<a name="l00574"></a>00574   <span class="keywordflow">switch</span> ( property )
<a name="l00575"></a>00575   {
<a name="l00576"></a>00576     <span class="keywordflow">case</span> 0: 
<a name="l00577"></a>00577       <a class="code" href="group___analog_in.html#ga3ae1add8529d6e1882b6c7d5b376b94" title="Sets whether the specified channel is active.">AnalogIn_SetActive</a>( index, value );
<a name="l00578"></a>00578       <span class="keywordflow">break</span>;
<a name="l00579"></a>00579     <span class="keywordflow">case</span> 2: <span class="comment">// autosend </span>
<a name="l00580"></a>00580       <a class="code" href="analogin_8c.html#d6445fb5094b226f418aab919bc5e602" title="Set whether a particular channel is enabled to check for and send new values automatically...">AnalogIn_SetAutoSend</a>( index, value );
<a name="l00581"></a>00581       <span class="keywordflow">break</span>;    
<a name="l00582"></a>00582   }
<a name="l00583"></a>00583   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00584"></a>00584 }
<a name="l00585"></a>00585 
<a name="l00586"></a>00586 <span class="comment">// Get the index LED, property</span>
<a name="l00587"></a>00587 <span class="keywordtype">int</span> AnalogInOsc_PropertyGet( <span class="keywordtype">int</span> index, <span class="keywordtype">int</span> property )
<a name="l00588"></a>00588 {
<a name="l00589"></a>00589   <span class="keywordtype">int</span> value = 0;
<a name="l00590"></a>00590   <span class="keywordflow">switch</span> ( property )
<a name="l00591"></a>00591   {
<a name="l00592"></a>00592     <span class="keywordflow">case</span> 0:
<a name="l00593"></a>00593       value = <a class="code" href="group___analog_in.html#gdb62eecf34834f2b57e722864581ace7" title="Returns the active state of a channel.">AnalogIn_GetActive</a>( index );
<a name="l00594"></a>00594       <span class="keywordflow">break</span>;
<a name="l00595"></a>00595     <span class="keywordflow">case</span> 1:
<a name="l00596"></a>00596       value = <a class="code" href="group___analog_in.html#g66a6bd10fbb5fc80f32994b756cf0412" title="Read the value of an analog input.">AnalogIn_GetValue</a>( index );
<a name="l00597"></a>00597       <span class="keywordflow">break</span>;
<a name="l00598"></a>00598     <span class="keywordflow">case</span> 2: <span class="comment">// autosend</span>
<a name="l00599"></a>00599       value = <a class="code" href="analogin_8c.html#74ba78c1fbe94d99adbcedae8978b6d2" title="Read whether a particular channel is enabled to check for and send new values automatically...">AnalogIn_GetAutoSend</a>( index );
<a name="l00600"></a>00600       <span class="keywordflow">break</span>;
<a name="l00601"></a>00601   }
<a name="l00602"></a>00602   
<a name="l00603"></a>00603   <span class="keywordflow">return</span> value;
<a name="l00604"></a>00604 }
<a name="l00605"></a>00605 
<a name="l00606"></a>00606 <span class="keywordtype">int</span> AnalogInOsc_Async( <span class="keywordtype">int</span> channel )
<a name="l00607"></a>00607 {
<a name="l00608"></a>00608   <span class="keywordtype">int</span> newMsgs = 0;
<a name="l00609"></a>00609   <span class="keywordtype">char</span> address[ OSC_SCRATCH_SIZE ];
<a name="l00610"></a>00610   <span class="keywordtype">int</span> i;
<a name="l00611"></a>00611   <span class="keywordtype">int</span> value;
<a name="l00612"></a>00612   <span class="keywordflow">for</span>( i = 0; i &lt; ANALOGIN_CHANNELS; i ++ )
<a name="l00613"></a>00613   {
<a name="l00614"></a>00614     <span class="keywordflow">if</span>( !<a class="code" href="analogin_8c.html#74ba78c1fbe94d99adbcedae8978b6d2" title="Read whether a particular channel is enabled to check for and send new values automatically...">AnalogIn_GetAutoSend</a>( i ) )
<a name="l00615"></a>00615       <span class="keywordflow">continue</span>;
<a name="l00616"></a>00616     value = <a class="code" href="group___analog_in.html#g66a6bd10fbb5fc80f32994b756cf0412" title="Read the value of an analog input.">AnalogIn_GetValue</a>( i );
<a name="l00617"></a>00617     <span class="keywordflow">if</span>( value != AnalogIn-&gt;lastValues[i] )
<a name="l00618"></a>00618     {
<a name="l00619"></a>00619       AnalogIn-&gt;lastValues[i] = value;
<a name="l00620"></a>00620       snprintf( address, OSC_SCRATCH_SIZE, <span class="stringliteral">"/%s/%d/value"</span>, AnalogInOsc_Name, i );
<a name="l00621"></a>00621       Osc_CreateMessage( channel, address, <span class="stringliteral">",i"</span>, value );
<a name="l00622"></a>00622       newMsgs++;
<a name="l00623"></a>00623     }
<a name="l00624"></a>00624   }
<a name="l00625"></a>00625 
<a name="l00626"></a>00626   <span class="keywordflow">return</span> newMsgs;
<a name="l00627"></a>00627 }
<a name="l00628"></a>00628 
<a name="l00629"></a>00629 <span class="preprocessor">#endif // OSC</span>
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  <p class="footer">The Make Controller Kit is an open source project maintained by <a href="http://www.makingthings.com">MakingThings</a>.<br />
    MakingThings code is released under the <a href="http://www.apache.org/licenses/LICENSE-2.0.html" target="_blank">Apache 2.0 license</a>.<br />
    Bug tracker, development wiki and status can be found at <a href="http://dev.makingthings.com">http://dev.makingthings.com</a>.<br />
		This document was last updated on 5 Dec 2007.
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